Dynamic adsorption fixture for sorting robot and sorting robot

Abstract

The present invention discloses a dynamic adsorption fixture for a sorting robot and a sorting robot. A clamping structure can be used to clamp and adsorb express parcels of different sizes by cooperating with a main suction cup and a plurality of auxiliary suction cups, so as to reduce the drop of express parcels during movement. The structure is characterized in that it is composed of a fourth connecting arm, a suction pump, a support shaft, a support plate, an auxiliary air extraction pipe, a main air extraction pipe, a main suction cup, an auxiliary suction cup, a fixture, a connecting block, a third telescopic rod and a fixed block. One end of the support shaft is vertically connected to the fourth connecting arm, and the other end of the support shaft is placed in the middle of the top surface of the support plate. A reinforcing rod is placed between the side surface of the support shaft and the fourth connecting arm. Two fixed blocks are respectively placed on both sides of the top surface of the support plate. One end of the two fixtures is respectively and rotatably placed on the two side surfaces of the support plate. The other end of the fixture first extends obliquely downward and then bends toward the center line of the support plate.

Description

Technical Field

[0001] The present invention discloses a dynamic adsorption clamp for a sorting robot and a sorting robot, which relates to a clamp installed on a sorting robot and belongs to the technical field of intelligent logistics, and particularly to a clamp which can clamp and adsorb express parcels of different sizes by cooperating with a main suction cup and a plurality of auxiliary suction cups, thereby reducing the dropping of express parcels during movement. Background Art

[0002] With the development of society, online shopping has become the main shopping method for consumers. In the process of sending express parcels from the place of origin to the destination, it is necessary to sort and stack the express parcels at multiple different sorting ports according to the different destinations, and then use mobile devices such as carts to transport the express parcels stacked at different sorting ports to the express parcel loading points corresponding to the sorting ports to realize the transfer of express parcels. At present, the method of sorting the express parcels stacked at the sorting ports to the carts is mainly manual, but the labor efficiency is low, the labor intensity is high, and different staff need to be arranged at different sorting ports, and the labor cost is high, so sorting robots came into being. The same sorting robot can take care of multiple sorting ports at the same time. After a preset time interval, it moves from one sorting port to another sorting port according to a preset route, and sorts the express parcels from different sorting ports to the corresponding carts, with high sorting efficiency and low labor cost. The walking base of the existing sorting robot is generally a structure with two tires at the front and rear, two of which are responsible for walking, and the other two are responsible for steering. When turning, the deflection angle of the body and the direction of travel is large, which is easy to slip. When moving from one sorting port to another, it cannot turn around and return on the spot, which is not suitable for narrow roads and warehouses with limited space; and the center of gravity is high, and no shock absorbing device is set. When moving from one sorting port to another, when encountering uneven ground, it will be repeatedly hit by hard impact and bounce up and down, which is easy to cause wear of the sorting robot and affect the travel speed; at the same time, the existing sorting robot is generally equipped with a through The express parcels are moved from the stacking point to the trolley by a hand-grasped mechanical gripper. For express parcels of smaller sizes, they can be easily clamped and moved. For express parcels of larger sizes, the hand-grasped mechanical gripper cannot effectively clamp the express parcels or can only clamp part of the express parcels. The clamping force is small, which may cause the express parcels to fall, causing damage to the express parcels and reducing the sorting efficiency. In addition, the existing sorting robot moves all express parcels of different sizes from the same sorting port into the same trolley. Large-sized express parcels are stacked on small-sized express parcels, which easily cause damage to the small-sized express parcels and the space utilization rate of the trolley is low.

[0003] CN117484470A discloses a mobile collaborative robot, including a manipulator, a mobile chassis and a camera, the mobile chassis including a base and a driving mechanism, the manipulator is installed on the base, and the driving mechanism is used to drive the base to move; the manipulator has at least one section that forms an angle of less than 60° relative to the horizontal plane when grabbing express delivery, and this section is called a transverse arm; the camera is movably installed on the transverse arm of the manipulator and is used to shoot the oblique lower part of the manipulator; a control module is installed on the base, and the control module is electrically connected to the camera, the driving mechanism and the manipulator. The driving mechanism of the above-mentioned mobile collaborative robot is a crawler structure, which has a slow driving speed, a large contact area with the ground, high friction, difficult steering, inability to turn around on the spot, poor flexibility, and is not suitable for narrow roads and warehouses with limited space; and the center of gravity is high, and no shock-absorbing device is provided. When encountering uneven ground, it will be repeatedly hit by hard impacts and bounce up and down, which may easily cause the express parcels moved by the sorting robot to fall, affecting the safe sorting of the express parcels; at the same time, the manipulator of the above-mentioned mobile collaborative robot grasps the express parcels in a way that simulates human hands. For express parcels of smaller sizes, it can be easily clamped and moved. For express parcels of larger sizes, the hand-grasped mechanical gripper cannot effectively clamp the express parcel or can only clamp part of the express parcel, and the clamping force is small. In the process of moving the express parcel to the corresponding container, the express parcel may fall, causing damage to the express parcel and reducing the sorting efficiency.

[0004] In order to improve the above-mentioned problems, the applicant filed a Chinese invention patent application entitled "A Sorting Robot". For express parcels of different sizes, the above-mentioned sorting robot needs to switch the suction cup and the clamp through a rotating motor. The clamp grabs small-sized express parcels, and the suction cup absorbs large-sized express parcels. The sorting robot needs to sort a large number of express parcels, and needs to switch the suction cup and the clamp multiple times through a rotating motor. The structure is complex and the operation remains unchanged. At the same time, the system may malfunction and cause switching errors, which may easily cause the clamp to be unable to effectively clamp large-sized express parcels, resulting in the falling of large-sized express parcels. Summary of the invention

[0005] In order to improve the above situation, the present invention provides a dynamic adsorption clamp for a sorting robot and a sorting robot, which can clamp and adsorb express parcels of different sizes by cooperating with a main suction cup and multiple auxiliary suction cups, thereby reducing the falling of express parcels during movement.

[0006] The present invention provides a dynamic adsorption fixture for a sorting robot and a sorting robot as follows: The present invention provides a dynamic adsorption fixture for a sorting robot, which is composed of a fourth connecting arm, a suction pump, a support shaft, a support plate, an auxiliary air suction pipe, a main air suction pipe, a main suction cup, an auxiliary suction cup, a fixture, a connecting block, a third telescopic rod and a fixing block.

[0007] One end of the support shaft is vertically connected to the fourth connecting arm, and the other end of the support shaft is placed in the middle of the top surface of the support plate.

[0008] Preferably, a reinforcing rod is disposed between the side surface of the support shaft and the fourth connecting arm.

[0009] The two fixing blocks are respectively placed on both sides of the top surface of the support plate.

[0010] One end of the two clamps is rotatably placed on the two side surfaces of the support plate respectively, and the other end of the clamp first extends obliquely downward and then bends toward the center line of the support plate, and the extension lines of the other ends of the two clamps coincide with the center line of the support plate.

[0011] Preferably, the bending portion of the clamp is an arc-shaped structure.

[0012] Preferably, the clamp is a hollow structure except for the bending portion.

[0013] Preferably, the fixture is filled with a mixture of sponge and foam particles.

[0014] Preferably, the thickness of the clamp gradually decreases from one end to the other end.

[0015] The connecting block is placed on the bending part of the fixture.

[0016] One end of the third telescopic rod is rotatably placed on the side of the fixed block, and the other end of the third telescopic rod is rotatably placed on the connecting block.

[0017] The suction pump is placed in the middle of the bottom surface of the support plate.

[0018] One end of the main air extraction pipe is connected to the air outlet of the suction pump and communicated with the air outlet of the suction pump, and the other end of the main air extraction pipe is connected to the main suction cup and communicated with the main suction cup.

[0019] One end of the auxiliary air extraction pipe is connected to the side of the main air extraction pipe and communicated with the side of the main air extraction pipe, and the other end of the auxiliary air extraction pipe is connected to the auxiliary suction cup and communicated with the auxiliary suction cup, and the outer diameter of the auxiliary suction cup is smaller than the outer diameter of the main suction cup.

[0020] Preferably, the auxiliary air extraction pipe first extends obliquely from one end to a distance away from the main air extraction pipe, and then extends vertically downward to the other end.

[0021] Preferably, the vertical section of the auxiliary air extraction pipe is a flexible bellows.

[0022] Preferably, there are multiple auxiliary air extraction pipes, and the multiple auxiliary air extraction pipes are arranged equidistantly along the circumferential direction of the side of the main air extraction pipe.

[0023] Preferably, the heights of the plurality of auxiliary suction cups are different.

[0024] Preferably, the distances between the plurality of auxiliary suction cups and the center line of the main suction cup are different;

[0025] Furthermore, a rubber strip is disposed on the side of the clamp, and the length of the rubber strip is equal to the width of the clamp.

[0026] Preferably, there are multiple rubber strips, and the multiple rubber strips are arranged without spacing in the length direction of the clamp.

[0027] Furthermore, the clamp is replaced with a wave-shaped clamp, and the wave-shaped clamp is a structure with multiple arc bends from one end to the other;

[0028] The present invention also relates to a sorting robot, which comprises a walking mechanism, a rotating mechanism and a clamping mechanism.

[0029] The walking mechanism is composed of a disc car body, a first rotating shaft, a tire, a driving motor housing, a U-shaped connecting piece, a first hinge, a first telescopic rod, a second hinge, a connecting rod, a shock-absorbing gasket, a second telescopic rod, a spring, and a damper.

[0030] A connecting groove is provided on the side of the disc housing, and the notch of the connecting groove is flush with the side of the circumferential housing.

[0031] Preferably, the disc vehicle shell is a hollow structure, and the disc vehicle shell is non-saturatedly filled with fluid;

[0032] Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the circumferential vehicle shell.

[0033] One end of the connecting rod is placed in the middle of the bottom of the connecting groove, and the other end of the connecting rod is rotatably placed on one end of the U-shaped connecting member through a second hinge.

[0034] First telescopic rods are respectively disposed on both sides of the connecting rod, one end of the first telescopic rod is disposed at the bottom of the connecting groove, and the other end of the first telescopic rod is rotatably disposed on the side of one end of the U-shaped connecting member through a first hinge.

[0035] A drive motor placement shell is placed between the two side surfaces of the U-shaped connector, one end of the drive motor placement shell is placed on the inner side surface of one end of the U-shaped connector, and the drive motor is placed in the drive motor placement shell.

[0036] The top surface and the bottom surface of the driving motor placement shell are respectively provided with one end of a group of dampers, one end of the second telescopic rod is placed on the other end of the damper, and the other end of the second telescopic rod is respectively placed on the two inner side surfaces of the U-shaped connecting member through shock-absorbing gaskets.

[0037] The spring sleeve is placed on the side of the second telescopic rod.

[0038] Preferably, there are multiple dampers in the same group, and the multiple dampers are arranged equidistantly along the length direction of the drive motor placement housing.

[0039] Preferably, the top surface and the bottom surface of the driving motor placement shell are respectively provided with one end of a rubber column, and the other end of the rubber column is respectively provided with two inner side surfaces of the U-shaped connecting piece, and there are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the driving motor placement shell, and the rubber columns and the dampers are arranged in a staggered manner.

[0040] One end of the first rotating shaft passes through a through hole opened at the other end of the driving motor placement housing and is connected to the motor shaft of the driving motor, and a bearing is disposed between the first rotating shaft and the driving motor placement housing.

[0041] The other end of the first rotating shaft is connected to the wheel axle of the tire.

[0042] Preferably, the walking mechanism is further provided with a detection mechanism, and the detection structure is composed of a first camera, a fixing plate and a support rod.

[0043] The support rod is placed on the top surface of the disc shell.

[0044] The bottom surface of the fixed plate is placed on the top surface of the support rod, and the first camera is placed on the top surface of the fixed plate.

[0045] The rotating mechanism is composed of a fixed base plate, a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a rotating motor placement shell.

[0046] One end of the first connecting arm is rotatably connected to the top surface of the disc vehicle shell through a fixed bottom plate.

[0047] One end of the second connecting arm is rotatably connected to the other end of the first connecting arm, the other end of the second connecting arm is rotatably connected to one end of the third connecting arm, the other end of the third connecting arm is connected to one end of the fourth connecting arm, and the height of one end of the second connecting arm is smaller than the height of the other end.

[0048] The rotating motor placement shell is embedded in the through slot opened at the other end of the fourth connecting arm, and the rotating motor is placed in the rotating motor placement shell.

[0049] The clamping mechanism is composed of a connecting shaft, a fixing sleeve, a connecting plate, a suction cup, a second camera, a vacuum pump, a first hook connecting piece, a second hook connecting piece, a clamp, a cylinder, a clamp connecting arm and a push arm.

[0050] One end of the second rotating shaft passes through a through hole of the rotating motor housing and is connected to the motor shaft of the rotating motor. A bearing is disposed between the second rotating shaft and the rotating motor housing.

[0051] The other end of the second rotating shaft is connected to the fixed sleeve.

[0052] The fixing sleeve is placed on the side of the connecting shaft through a through hole in the middle, one end of the connecting shaft is placed on the vacuum pump, the connecting plate is placed on the vacuum pump, the suction cup is placed on the connecting plate, one end of the connecting pipe is connected to the air outlet of the vacuum pump and communicated with each other, and the other end of the connecting pipe passes through the through hole on the connecting plate and is connected to the suction cup and communicated with each other.

[0053] The second camera is placed on the bottom surface of the connecting plate, and the distance measuring sensor is placed on the bottom surface of the connecting plate.

[0054] The other end of the connecting shaft is placed at one end of the cylinder.

[0055] Preferably, the connecting shaft is a double-rod cylinder.

[0056] One end of the push arm is slidably placed in the cylinder, and the other end of the push arm is provided with a second hook connecting member.

[0057] The first hook-claw connecting member is sleeved on the side of the push arm through a through hole in the middle, and the length of the first hook-claw connecting member is greater than the length of the second hook-claw connecting member.

[0058] The two ends of the first hook-claw connecting member are respectively hinged to one end of the clamping claw, the two ends of the second hook-claw connecting member are respectively hinged to one end of the clamping claw connecting arm, and the other end of the clamping claw connecting arm is respectively hinged to one third of the clamping claw.

[0059] The extension line of the other end of the two clamping jaws coincides with the extension line of the other end of the push arm.

[0060] Preferably, the side surface of the other end of the clamping jaw is provided with a plurality of anti-slip grooves at equal distances.

[0061] Preferably, the sorting robot is controlled to turn by a sorting robot steering system;

[0062] The present invention also relates to a sorting robot steering system, characterized in that the sorting robot steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the two first telescopic rods via a data transmission line, the central processor converts a digital signal into an electrical signal, and the sorting robot steering system implements the following steps when executed:

[0063] The travel speed sensor collects the travel speed of the sorting robot and transmits the real-time signal to the central processor. When the sorting robot turns, the travel direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods in real time according to the deviation, so that a length difference appears between the two first telescopic rods. The two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, thereby achieving the purpose of steering the sorting robot.

[0064] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0065] The present invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system is composed of a distance measuring sensor, a central processing unit and a central controller, the distance measuring sensor is connected to the central processing unit through a data line, the central processing unit is connected to the central controller through a data line, the servo motor is connected to the central controller through a data line, the servo motor is respectively connected to the first connecting arm, the second connecting arm and the third connecting arm through a gear transmission device, the central processing unit converts a digital signal into an electrical signal, and the sorting robot rotation control system implements the following steps when being executed:

[0066] The distance measuring sensor collects the distance from the clamp or suction cup to the target position, and transmits the real-time signal to the central processor. The central processor compares the distance data with the preset distance, calculates the deviation between the clamp or suction cup and the target position, and sends it to the central controller. The central controller performs path planning according to the distance deviation, determines the best path from the current position of the clamp or suction cup to the target position, calculates the angles and positions of the first connecting arm, the second connecting arm, and the third connecting arm to ensure that the first connecting arm, the second connecting arm, and the third connecting arm can move according to the predetermined path. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move. During the movement, the central controller will It continuously receives feedback information from the ranging sensor, and adjusts the movement of the first connecting arm, the second connecting arm, and the third connecting arm in real time based on this information to ensure that they move accurately along the predetermined path. After reaching the target position and the gripper or suction cup stably grasps the express package, the first connecting arm, the second connecting arm, and the third connecting arm sort the express packages of different sizes into the corresponding carts according to the predetermined path. After the express packages are successfully sorted, the central controller confirms that the task has been completed and sends a command to the servo motor. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction and return to the initial position to sort the next express package. This cycle is repeated to sort the express packages at each sorting port.

[0067] Preferably, the sorting robot further comprises a control system, wherein the control system comprises a signal converter, a data processor and a controller.

[0068] The signal converter is placed on the disc car shell, the data processor is placed on the disc car shell, and the controller is placed on the disc car shell.

[0069] The first camera and the second camera are connected to the signal converter via a data line.

[0070] The driving motor, the rotating motor, the vacuum pump, the cylinder, and the third telescopic rod are connected to the controller via data transmission lines, respectively.

[0071] The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line.

[0072] The signal converter can convert the electrical signals of the image data collected by the first camera and the second camera into digital signals.

[0073] The controller may be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device.

[0074] The data processor and the signal converter perform information exchange,

[0075] When the control system is executed, the following steps are mainly implemented:

[0076] Before using the sorting robot to sort express parcels, the control system presets in advance that the small-sized express parcels will be clamped into cart No. 1 by the gripper, and the large-sized express parcels will be sucked into cart No. 2 by the suction cup.

[0077] When the sorting robot is used to sort express parcels, the controller controls the driving motor, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire to rotate, so that the sorting robot starts to travel in a straight line according to the preset route, the speed sensor collects the speed of the sorting robot, and transmits the real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor, and the central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods in real time according to the deviation, so that there is a length difference between the two first telescopic rods, the two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, so as to achieve the purpose of turning the sorting robot; the sorting robot arrives at a sorting port according to the preset route,

[0078] The distance measuring sensor collects the distance between the clamp or suction cup and the target position, and transmits the real-time signal to the central processor. The central processor calculates the distance deviation between the clamp or suction cup and the target position and sends it to the central controller. The central controller plans the best path from the current position of the clamp or suction cup to the target position according to the distance deviation, calculates the angles and positions of the first connecting arm, the second connecting arm, and the third connecting arm. According to the calculation results, the central controller sends instructions to the servo motor, and the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to reach the target position according to the predetermined path, that is, close to the express package. The second camera collects images of the express package. The collected image data signal is sent to the signal converter, the signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor, the data processor calculates the pixel size of the image data, calculates the actual size of the express package according to the ratio coefficient between the preset pixel size and the actual size, compares the actual size with the preset size, if the actual size is smaller than the preset size, the clamp is used to clamp the express package, the servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to the top of the express package, the controller controls the end rod corresponding to the connecting shaft to extend, the controller controls the cylinder to start, and the cylinder drives the push arm to extend downward, The two clamps clamp the express package, and the first connecting arm, the second connecting arm, and the third connecting arm move the small-sized express package to the top of the corresponding No. 1 trolley according to the predetermined path. Then the cylinder drives the push arm to retract upward, so that the two clamps separate and put the express package into the No. 1 trolley. The central controller confirms that the task has been completed and sends a command to the servo motor. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to move in the opposite direction and return to the initial position to sort the next express package. If the actual size is larger than the preset size, the controller controls the rotating motor to start, and the rotating motor rotates 180 degrees. The rotating motor drives the connecting shaft to rotate, and the connecting shaft is connected. The connecting shaft drives the suction cup and the clamp to rotate, and the express parcel is adsorbed and sorted by the suction cup. The servo motor drives the first connecting arm, the second connecting arm, and the third connecting arm to rotate to the top of the express parcel. The controller controls the end rod corresponding to the connecting shaft to extend. The controller controls the vacuum pump to pump air so that the suction cup sucks the express parcel. The first connecting arm, the second connecting arm, and the third connecting arm then move the large-sized express parcel to the top of the corresponding No. 2 trolley according to the predetermined path. Then the controller controls the vacuum pump to stop working, and the express parcel loses its adsorption force and falls from the suction cup into the No. 2 trolley. This cycle repeats to achieve the sorting of express parcels at different sorting ports according to size. It can facilitate the subsequent loading work, so that express parcels of different sizes can be transported separately, or the large express parcels can be placed below first, and the small express parcels can be stacked on the large express parcels. This can make full use of the space in the vehicle, prevent large-sized express parcels from squeezing small-sized express parcels, and reduce damage to express parcels.

[0079] Furthermore, the side of the tire is provided with rubber protrusions;

[0080] Preferably, there are a plurality of rubber protrusions, and the plurality of rubber protrusions are arranged without spacing along the side surface of the tire;

[0081] Further, the suction cup is replaced by a small suction cup, which is placed on the top surface of the connecting plate, one end of the connecting six-way is connected to the air outlet of the vacuum pump and communicates with it, the other end of the connecting six-way is placed on the bottom surface of the connecting plate, one end of the connecting pipe is connected to the connecting six-way and communicates with it, and the other end of the connecting pipe passes through the through hole opened on the connecting plate and is connected to the small suction cup and communicates with it.

[0082] Preferably, the six-way connection can be replaced by a four-way connection or a five-way connection, there are multiple small suction cups, and the multiple small suction cups are evenly distributed on the top surface of the connecting plate, and the multiple small suction cups correspond one to one with the multiple connecting pipes. Beneficial Effects

[0083] 1. By using the clamp in conjunction with the main suction cup and multiple auxiliary suction cups, express parcels of different sizes can be clamped and adsorbed, which can reduce the falling of express parcels during movement and improve sorting efficiency.

[0084] 2. Simple structure, convenient and practical.

[0085] 3. Low cost and easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 This is a three-dimensional structural diagram of a sorting robot of the present invention;

[0087] Figure 2 This is a three-dimensional structural diagram of a sorting robot of the present invention, which only shows the structure of the walking mechanism;

[0088] Figure 3 This is a three-dimensional structural diagram of a sorting robot of the present invention, which only shows the structure of the cylinder and the push arm;

[0089] Figure 4 This is a three-dimensional structural diagram of a second embodiment of a sorting robot of the present invention;

[0090] Figure 5 This is a three-dimensional structural diagram of Embodiment 3 of a sorting robot of the present invention;

[0091] Figure 6 This is a three-dimensional structural diagram of a dynamic adsorption fixture of a sorting robot according to the present invention;

[0092] Figure 7This is a structural schematic diagram of Embodiment 2 of a dynamic adsorption fixture for a sorting robot according to the present invention;

[0093] Figure 8 This is a three-dimensional structural diagram of Example 3 of a dynamic adsorption fixture for a sorting robot according to the present invention.

[0094] Attached photos

[0095] The components include: a connecting plate (1), a suction cup (2), a vacuum pump (3), a connecting shaft (4), a fixing sleeve (5), a first hook connecting piece (6), a second hook connecting piece (7), a clamping claw (8), a first camera (9), a fixing plate (10), a supporting rod (11), a first rotating shaft (12), a tire (13), a driving motor placement shell (14), a U-shaped connecting piece (15), a first hinged piece (16), a fixing base plate (17), a first connecting arm (18), a first telescopic rod (19), a second hinged piece (20), a connecting rod (21), a round plate shell (22), a second connecting arm (23), a third connecting arm (24), a fourth connecting arm (25), a rotating motor placement shell (26), a second camera (27), a shock absorbing gasket (28), a second telescopic rod (29), a spring ( 30), damper (31), cylinder (32), clamping claw connecting arm (33), push arm (34), rubber protrusion (35), connecting pipe (36), small suction cup (37), connecting six-way (38), auxiliary suction pipe (39), main suction pipe (40), main suction cup (41), auxiliary suction cup (42), clamp (43), connecting block (44), third telescopic rod (45), fixing block (46), suction pump (47), supporting shaft (48), supporting plate (49), rubber strip (50), corrugated splint (51) DETAILED DESCRIPTION Example 1

[0096] The present invention provides a dynamic adsorption fixture for a sorting robot, which comprises a fourth connecting arm (25), a suction pump (47), a support shaft (48), a support plate (49), an auxiliary air suction pipe (39), a main air suction pipe (40), a main suction cup (41), an auxiliary suction cup (42), a fixture (43), a connecting block (44), a third telescopic rod (45) and a fixing block (46).

[0097] One end of the support shaft (48) is vertically connected to the fourth connecting arm (25), and the other end of the support shaft (48) is placed in the middle of the top surface of the support plate (49).

[0098] Preferably, a reinforcing rod is disposed between the side surface of the support shaft (48) and the fourth connecting arm (25).

[0099] The two fixing blocks (46) are respectively placed on both sides of the top surface of the support plate (49).

[0100] One end of the two clamps (43) is rotatably disposed on two side surfaces of the support plate (49) respectively, and the other end of the clamp (43) first extends obliquely downward and then bends toward the center line of the support plate (49), and the extension lines of the other ends of the two clamps (43) coincide with the center line of the support plate (49).

[0101] Preferably, the bent portion of the clamp (43) is an arc-shaped structure.

[0102] Preferably, the clamp (43) is a hollow structure except for the bending portion.

[0103] Preferably, the clamp (43) is filled with a mixture of sponge and foam particles.

[0104] Preferably, the thickness of the clamp (43) gradually decreases from one end to the other end.

[0105] The connecting block (44) is placed on the bent portion of the clamp (43).

[0106] One end of the third telescopic rod (45) is rotatably placed on a side of the fixed block (46), and the other end of the third telescopic rod (45) is rotatably placed on the connecting block (44).

[0107] The suction pump (47) is placed in the middle of the bottom surface of the support plate (49).

[0108] One end of the main air extraction pipe (40) is connected to the air outlet of the suction pump (47) and communicates with the air outlet of the suction pump (47), and the other end of the main air extraction pipe (40) is connected to the main suction cup (41) and communicates with the main suction cup (41).

[0109] One end of the auxiliary air extraction pipe (39) is connected to the side of the main air extraction pipe (40) and communicates with the side of the main air extraction pipe (40); the other end of the auxiliary air extraction pipe (39) is connected to the auxiliary suction cup (42) and communicates with the auxiliary suction cup (42); the outer diameter of the auxiliary suction cup (42) is smaller than the outer diameter of the main suction cup (41);

[0110] Preferably, the auxiliary air extraction pipe (39) first extends obliquely from one end to a distance away from the main air extraction pipe (40), and then extends vertically downward to the other end.

[0111] Preferably, the vertical section of the auxiliary air extraction pipe (39) is a flexible bellows.

[0112] Preferably, there are a plurality of auxiliary air extraction pipes (39), and the plurality of auxiliary air extraction pipes (39) are arranged equidistantly in the circumferential direction along the side of the main air extraction pipe (40).

[0113] Preferably, the plurality of auxiliary suction cups (42) have different heights.

[0114] Preferably, the distances between the plurality of auxiliary suction cups (42) and the center line of the main suction cup (41) are different;

[0115] Preferably, a second camera (27) and a distance measuring sensor are disposed on the bottom surface of the support plate (49);

[0116] Preferably, the gripping structure is controlled by a sorting robot control system;

[0117] When in use, the gripping structure is installed on a sorting robot. When the sorting robot is used to grip an express package, the second camera (27) captures an image of the express package and sends the captured image data signal to a signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to a data processor. The data processor calculates the pixel size of the image data, calculates the actual size of the express package according to a ratio coefficient between the preset pixel size and the actual size, and compares the actual size with the preset size. If the actual size is smaller than the preset size, the package can be gripped by a clamp (43) or adsorbed by an auxiliary suction cup (42) in cooperation with the main suction cup (41). Any one of the two methods or both methods can be used for gripping. If the actual size is larger than the preset size, the package can be gripped by both methods to reduce the drop of the express package. This embodiment is described by taking the two methods for gripping as an example:

[0118] If the actual size is smaller than the preset size, the controller starts the third telescopic rod (45) to extend so that the two clamps (8) clamp the two side edges of the express package, and the controller starts the vacuum air pump to suck air so that the main suction cup (41) and the plurality of auxiliary suction cups (42) suck the top of the express package. The servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move the small-sized express package to the top of the corresponding No. 1 trolley according to the preset path. Then the controller controls the third telescopic rod (45) to retract so that the two clamps (43) are separated. The controller controls the vacuum pump (3) to stop working so that the express package loses its suction force and the express package is put into the No. 1 trolley. If the actual size is smaller than the preset size, the controller starts the vacuum air pump to suck air so that the main suction cup (41) and the plurality of auxiliary suction cups (42) suck the top of the express package. The servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move the small-sized express package to the top of the corresponding No. 1 trolley according to the preset path. Then the controller controls the third telescopic rod (45) to retract so that the two clamps (43) are separated. The controller controls the vacuum pump (3) to stop working so that the express package loses its suction force and the express package is put into the No. 1 trolley. When the actual size of the express package is larger than the preset size, the servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move the large-sized express package to the top of the corresponding No. 2 trolley according to the predetermined path, and then the controller controls the third telescopic rod (45) to retract so that the two clamps (43) are separated, and the controller controls the vacuum pump (3) to stop working so that the express package loses its adsorption force, and the express package is put into the No. 2 trolley. The central controller confirms that the task has been completed and sends a command to the servo motor, and the servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move in the opposite direction and return to the initial position to sort the next express package; Example 2

[0119] The difference between this embodiment and embodiment 1 is that: a rubber strip (50) is disposed on the side of the clamp (43); the length of the rubber strip (50) is equal to the width of the clamp (43); there are a plurality of rubber strips (50), and the plurality of rubber strips (50) are arranged without spacing in the length direction of the clamp (43); when in use, the friction between the clamp (43) and the express package can be increased, the sliding between the clamp (43) and the express package can be reduced, and the probability of the package slipping off can be reduced; Example 3

[0120] The difference between this embodiment and embodiment 1 is that the clamp (43) is replaced by a wavy clamp (51), and the wavy clamp (51) is a structure that is bent in an arc shape multiple times from one end to the other; when in use, the contact area between the clamp (43) and the express package can be increased, the friction force can be increased, and the sliding between the clamp (43) and the express package can be reduced;

[0121] The bent portion of the clamp (43) is designed as an arc-shaped structure, which can make the bent portion and the express package fit more closely, increase the contact area between the clamp (43) and the express package, increase the friction force, and reduce the sliding between the clamp (43) and the express package; and when the clamp (43) clamps the express package, it can distribute stress more evenly, reduce stress concentration, and reduce the extrusion deformation of the bent portion of the clamp (43) and the express package;

[0122] The clamp (43) is designed to be a hollow structure except for the bending portion, which can reduce the weight of the clamp (43), reduce the load-bearing capacity of the connecting plate (1), and improve the flexibility of opening and closing the clamp (43);

[0123] The clamp (43) is filled with a mixture of sponge and foam particles, which can effectively absorb and disperse the mutual squeezing force when the clamp (43) clamps the express package, reduce the squeezing deformation of the clamp (43) and the express package, and at the same time improve the support capacity of the clamp (43) for the express package;

[0124] The thickness of the clamp (43) is designed to gradually decrease from one end to the other end. One end has a large thickness, which can improve the connection stability between the clamp (43) and the connecting plate (1), and reduce the loosening and falling off of the clamp (43) during the process of clamping the express package. The other end has a small thickness, which can more closely fit the edge or small part of the express package, reduce the gap that may appear during the clamping process, improve the stability of the clamping, and at the same time reduce the mutual squeezing force of the clamp (43) on the express package, and reduce the squeezing deformation of the clamp (43) and the express package.

[0125] The auxiliary suction cups (42) are designed to have different heights. For express parcels with irregular shapes, the auxiliary suction cups (42) of different heights can adsorb the express parcels at different heights, thus providing a stronger adsorption force and reducing the slipping of the express parcels during movement.

[0126] The auxiliary air extraction pipe (39) first extends obliquely from one end to a distance away from the main air extraction pipe (40), and then extends vertically downward to the other end. The vertical section of the auxiliary air extraction pipe (39) is designed as a flexible bellows, which can avoid multiple pipelines from crossing each other and simplify the pipeline layout. The vertical section is a flexible bellows, which can be recovered when the suction cup (2) moves downward to contact the package to reduce the impact stress. At the same time, when encountering an irregularly shaped package, the flexible bellows connected to the suction cup (2) that first contacts the top surface of the package is recovered, so that other suction cups (2) can contact and absorb the package, thereby improving the absorption force and absorption area of ​​the package and preventing the package from falling off during movement.

[0127] The design of different distances between the auxiliary suction cups (42) and the center line of the main suction cup (41) can adsorb different positions of the express package, adsorb express packages of different sizes more effectively, and have a stronger adsorption force, which can reduce the slipping of the express package during movement;

[0128] The purpose of clamping and adsorbing express parcels of different sizes by using the clamp (43) in cooperation with the main suction cup (41) and the plurality of auxiliary suction cups (42) is achieved, thereby reducing the dropping of the express parcels during the movement.

[0129] It should be noted that the dynamic adsorption fixture (43) needs to be installed on the following sorting robot for use;

[0130] A sorting robot of the present invention is implemented as follows: A sorting robot of the present invention comprises a walking mechanism, a rotating mechanism and a clamping mechanism.

[0131] The walking mechanism is composed of a disc car body (22), a first rotating shaft (12), a tire (13), a driving motor housing (14), a U-shaped connecting member (15), a first hinge (16), a first telescopic rod (19), a second hinge (20), a connecting rod (21), a shock absorbing pad (28), a second telescopic rod (29), a spring (30), and a damper (31).

[0132] A connecting groove is formed on the side of the disc housing (22), and the notch of the connecting groove is flush with the side of the circumferential housing.

[0133] Preferably, the disc vehicle shell (22) is a hollow structure, and the disc vehicle shell (22) is non-saturatedly filled with fluid;

[0134] Preferably, there are a plurality of connecting grooves, and the plurality of connecting grooves are arranged equidistantly along the side surface of the circumferential vehicle shell.

[0135] One end of the connecting rod (21) is placed in the middle of the bottom of the connecting groove, and the other end of the connecting rod (21) is rotatably placed on one end of the U-shaped connecting member (15) via a second hinged member (20).

[0136] First telescopic rods (19) are respectively disposed on both sides of the connecting rod (21), one end of the first telescopic rod (19) is disposed at the bottom of the connecting groove, and the other end of the first telescopic rod (19) is rotatably disposed on the side surface of one end of the U-shaped connecting member (15) via a first hinged member (16).

[0137] A drive motor placement shell (14) is disposed between two side surfaces of the U-shaped connecting piece (15), one end of the drive motor placement shell (14) is disposed on the inner side surface of one end of the U-shaped connecting piece (15), and the drive motor is disposed in the drive motor placement shell (14).

[0138] The top surface and the bottom surface of the drive motor placement shell (14) are respectively provided with one end of a group of dampers (31), one end of the second telescopic rod (29) is placed on the other end of the damper (31), and the other end of the second telescopic rod (29) is respectively placed on the two inner side surfaces of the U-shaped connecting member (15) via shock-absorbing gaskets (28).

[0139] The spring (30) is sleeved on the side of the second telescopic rod (29).

[0140] Preferably, there are a plurality of dampers (31) in the same group, and the plurality of dampers (31) are arranged equidistantly along the length direction of the drive motor placement housing (14).

[0141] Preferably, the top surface and the bottom surface of the drive motor placement shell (14) are respectively provided with one end of a rubber column, and the other end of the rubber column is respectively provided with two inner side surfaces of the U-shaped connecting member (15). There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the drive motor placement shell (14). The rubber columns and the dampers (31) are arranged in a staggered manner.

[0142] One end of the first rotating shaft (12) passes through a through hole opened at the other end of the drive motor placement housing (14) and is connected to the motor shaft of the drive motor. A bearing is disposed between the first rotating shaft (12) and the drive motor placement housing (14).

[0143] The other end of the first rotating shaft (12) is connected to the wheel axle of the tire (13).

[0144] Preferably, the walking mechanism is further provided with a detection mechanism, the detection structure consisting of a first camera (9), a fixing plate (10) and a support rod (11).

[0145] The support rod (11) is placed on the top surface of the disc shell.

[0146] The bottom surface of the fixed plate (10) is placed on the top surface of the support rod (11), and the first camera (9) is placed on the top surface of the fixed plate (10).

[0147] The rotating mechanism is composed of a fixed base plate (17), a first connecting arm (18), a second connecting arm (23), a third connecting arm (24), a fourth connecting arm (25), and a rotating motor placement shell (26).

[0148] One end of the first connecting arm (18) is rotatably connected to the top surface of the disc vehicle shell (22) via a fixed bottom plate (17).

[0149] One end of the second connecting arm (23) is rotatably connected to the other end of the first connecting arm (18), the other end of the second connecting arm (23) is rotatably connected to one end of the third connecting arm (24), the other end of the third connecting arm (24) is connected to one end of the fourth connecting arm (25), the height of one end of the second connecting arm (23) is smaller than the height of the other end,

[0150] The rotating motor placement shell (26) is embedded in a through slot opened at the other end of the fourth connecting arm (25), and the rotating motor is placed in the rotating motor placement shell (26).

[0151] The clamping mechanism comprises a connecting shaft (4), a fixing sleeve (5), a connecting plate (1), a suction cup (2), a second camera (27), a vacuum pump (3), a first hook connecting piece (6), a second hook connecting piece (7), a clamping claw (8), a cylinder (32), a clamping claw connecting arm (33) and a push arm (34).

[0152] One end of the second rotating shaft passes through a through hole provided in the rotating motor housing shell (26) and is connected to the motor shaft of the rotating motor, and a bearing is disposed between the second rotating shaft and the rotating motor housing shell (26).

[0153] The other end of the second rotating shaft is connected to the fixing sleeve (5).

[0154] The fixing sleeve (5) is placed on the side of the connecting shaft (4) through a through hole in the middle, one end of the connecting shaft (4) is placed on the vacuum pump (3), the connecting plate (1) is placed on the vacuum pump (3), the suction cup (2) is placed on the connecting plate (1), one end of the connecting pipe is connected to the air outlet of the vacuum pump (3), and the other end of the connecting pipe passes through the through hole in the connecting plate (1) and is connected to the suction cup (2), and the suction cup (2) is connected.

[0155] The second camera (27) is placed on the bottom surface of the connecting plate (1), and the distance measuring sensor is placed on the bottom surface of the connecting plate (1).

[0156] The other end of the connecting shaft (4) is placed at one end of the cylinder (32).

[0157] Preferably, the connecting shaft (4) is a double-rod cylinder (32).

[0158] One end of the push arm (34) is slidably disposed in the cylinder (32), and the other end of the push arm (34) is provided with a second hook connecting member (7).

[0159] The first hook-claw connecting member (6) is sleeved on the side of the push arm (34) through a through hole opened in the middle, and the length of the first hook-claw connecting member (6) is greater than the length of the second hook-claw connecting member (7).

[0160] The two ends of the first hook-claw connecting member (6) are respectively corresponding to one end of a clamping claw (8) hingedly disposed thereon, the two ends of the second hook-claw connecting member (7) are respectively corresponding to one end of a clamping claw connecting arm (33) hingedly disposed thereon, and the other end of the clamping claw connecting arm (33) is respectively corresponding to one third of the clamping claw (8).

[0161] The extension lines of the other ends of the two clamping jaws (8) coincide with the extension lines of the other ends of the push arm (34).

[0162] Preferably, the side surface of the other end of the clamping jaw (8) is provided with a plurality of anti-slip grooves at equal intervals.

[0163] Preferably, the sorting robot is controlled to turn by a sorting robot steering system;

[0164] The present invention also relates to a sorting robot steering system, characterized in that the sorting robot steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller, the speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the two first telescopic rods (19) via a data transmission line, the central processor converts a digital signal into an electrical signal, and the sorting robot steering system implements the following steps when executed:

[0165] The speed sensor collects the speed of the sorting robot and transmits a real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits an expected signal to the central processor. The central processor calculates a deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods (19) in real time according to the deviation, so that a length difference appears between the two first telescopic rods (19). The two first telescopic rods (19) drive the U-shaped connecting member (15) to turn, the U-shaped connecting member (15) drives the driving motor to turn, and the driving motor drives the tire (13) to turn, thereby achieving the purpose of turning the sorting robot.

[0166] Preferably, the sorting robot controls the rotation of the connecting arm through a sorting robot rotation system;

[0167] The present invention also relates to a sorting robot rotation system, characterized in that the sorting robot rotation system is composed of a distance measuring sensor, a central processing unit and a central controller, the distance measuring sensor is connected to the central processing unit via a data line, the central processing unit is connected to the central controller via a data line, the servo motor is connected to the central controller via a data line, the servo motor is connected to the first connecting arm (18), the second connecting arm (23) and the third connecting arm (24) respectively via a gear transmission device, the central processing unit converts a digital signal into an electrical signal, and the sorting robot rotation control system implements the following steps when executed:

[0168] The distance measuring sensor collects the distance between the clamping claw (8) or the suction cup (2) and the target position, and transmits a real-time signal to the central processor. The central processor compares the distance data with the preset distance, calculates the deviation between the clamping claw (8) or the suction cup (2) and the target position, and sends it to the central controller. The central controller performs path planning based on the distance deviation, determines the best path for the clamping claw (8) or the suction cup (2) from the current position to the target position, calculates the angle and position of the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24), so as to ensure that the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) can move according to the predetermined path. Based on the calculation result, the central controller sends a command to the servo motor, and the servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move. During the movement, The central controller continuously receives feedback information from the distance measuring sensor, and adjusts the movement of the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) in real time based on the information to ensure that they move accurately along a predetermined path. After reaching the target position, and after the gripper (8) or the suction cup (2) stably grasps the express parcel, the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) sort the express parcels of different sizes into corresponding trolleys according to the predetermined path. After the express parcels are successfully sorted, the central controller confirms that the task has been completed and sends a command to the servo motor, which drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move in the opposite direction and return to the initial position to sort the next express parcel. This cycle is repeated to sort the express parcels at each sorting port.

[0169] Preferably, the sorting robot further comprises a control system, wherein the control system comprises a signal converter, a data processor and a controller.

[0170] The signal converter is placed on the disc housing (22), the data processor is placed on the disc housing (22), and the controller is placed on the disc housing (22).

[0171] The first camera (9) and the second camera (27) are connected to the signal converter via a data line.

[0172] The driving motor, the rotating motor, the vacuum pump (3), the cylinder (32), the third telescopic rod (45) and the vibration motor are respectively connected to the controller via data transmission lines.

[0173] The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line.

[0174] The signal converter is capable of converting the electrical signals of the image data collected by the first camera (9) and the second camera (27) into digital signals.

[0175] The controller may be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device.

[0176] The data processor and the signal converter perform information exchange,

[0177] When the control system is executed, the following steps are mainly implemented:

[0178] Before using the sorting robot to sort express parcels, the control system is preset in advance to use the gripper (8) to clamp small-sized express parcels into trolley No. 1, and to use the suction cup (2) to absorb large-sized express parcels into trolley No. 2.

[0179] When the sorting robot is used to sort express parcels, the controller controls the driving motor, the driving motor drives the rotating shaft to rotate, the rotating shaft drives the tire (13) to rotate, so that the sorting robot starts to travel in a straight line according to a preset route, the speed sensor collects the speed of the sorting robot and transmits a real-time signal to the central processor, when the sorting robot turns, the direction sensor transmits an expected signal to the central processor, the central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the telescopic length of the two first telescopic rods (19) in real time according to the deviation, so that the two first telescopic rods (19) have a length difference, the two first telescopic rods (19) drive the U-shaped connecting piece (15) to turn, the U-shaped connecting piece (15) drives the driving motor to turn, and the driving motor drives the tire (13) to turn, so that the purpose of turning the sorting robot is achieved; the sorting robot arrives at a sorting port according to the preset route,

[0180] The distance measuring sensor collects the distance between the clamp (8) or the suction cup (2) and the target position, and transmits a real-time signal to the central processor. The central processor calculates the distance deviation between the clamp (8) or the suction cup (2) and the target position, and sends it to the central controller. The central controller plans the best path for the clamp (8) or the suction cup (2) from the current position to the target position according to the distance deviation, and calculates the angles and positions of the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24). According to the calculation result, the central controller sends a command to the servo motor, and the servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to reach the target position according to the predetermined path, that is, when the express package is close to the express package, the second camera (27) collects images of the express package, and sends the collected image data signal to the signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor. The data processor calculates the pixel size of the image data, and calculates the express package according to the ratio coefficient between the preset pixel size and the actual size. The actual size of the package is compared with the preset size. If the actual size is smaller than the preset size, the clamping claw (8) is used to clamp the express package. The servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to rotate to reach directly above the express package. The controller controls the end rod corresponding to the connecting shaft (4) to extend. The controller controls the cylinder (32) to start. The cylinder (32) drives the push arm (34) to extend downward, so that the two clamping claws (8) clamp the express package. The first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) are rotated to reach directly above the express package. The second connecting arm (23) and the third connecting arm (24) then move the small-sized express package to the top of the corresponding No. 1 trolley according to the predetermined path, and then the cylinder (32) drives the push arm (34) to retract upward, so that the two clamping claws (8) separate and put the express package into the No. 1 trolley. The central controller confirms that the task has been completed and sends a command to the servo motor. The servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to move in the opposite direction and return to the initial position to sort the next express package.If the actual size is larger than the preset size, the controller controls the rotary motor to start, the rotary motor rotates 180 degrees, the rotary motor drives the connecting shaft (4) to rotate, the connecting shaft (4) drives the suction cup (2) and the clamping claw (8) to rotate, the suction cup (2) is used to adsorb and sort the express parcel, the servo motor drives the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) to rotate to reach directly above the express parcel, the controller controls the end rod corresponding to the connecting shaft (4) to extend, the controller controls the vacuum pump (3) to pump air, so that the suction cup (2) adsorbs the express parcel, the first connecting arm (18), the second connecting arm (23), and the third connecting arm (24) then move the large-sized express parcel to the corresponding No. 2 trolley according to the predetermined path, and then the controller controls the vacuum pump (3) to stop working, the express parcel loses the adsorption force and falls from the suction cup (2) into the No. 2 trolley, and this cycle is repeated to achieve the sorting of express parcels at different sorting ports according to size. It can facilitate the subsequent loading work, so that express parcels of different sizes can be transported separately, or large express parcels can be placed at the bottom first, and small express parcels can be stacked on the large express parcels, which can make full use of the space in the vehicle, prevent large express parcels from squeezing small express parcels, and reduce damage to express parcels; Example 2

[0181] The difference between this embodiment and embodiment 1 is that: a rubber protrusion (35) is disposed on the side of the tire (13); there are a plurality of rubber protrusions (35), and the plurality of rubber protrusions (35) are arranged without spacing along the side of the tire (13); when in use, the rubber protrusions (35) can increase the contact area and friction between the tire (13) and the ground, improve the grip of the tire (13), reduce the up and down bouncing of the tire (13) when encountering uneven ground, and make the driving stability of the sorting robot better; at the same time, the rubber protrusions (35) can disperse the impact and wear of the tire (13) during driving, reduce the damage to the tire (13) as a whole, and extend the service life of the tire (13); Example 3

[0182] The difference between this embodiment and embodiment 1 is that the suction cup (2) is replaced by a small suction cup (37), the small suction cup (37) is placed on the top surface of the connecting plate (1), one end of the connecting six-way (38) is connected to the air outlet of the vacuum pump (3) and is in communication with the air outlet, the other end of the connecting six-way (38) is placed on the bottom surface of the connecting plate (1), one end of the connecting tube (36) is connected to the connecting six-way (38) and is in communication with the connecting six-way (38), the other end of the connecting tube (36) passes through a through hole opened on the connecting plate (1) and is connected to the small suction cup (37) and is in communication with the small suction cup (37). The connecting tubes (36) are connected to each other with the small suction cups (37), the six connecting tubes (38) can be replaced by four connecting tubes or five connecting tubes, there are a plurality of small suction cups (37), the plurality of small suction cups (37) are evenly distributed on the top surface of the connecting plate (1), and the plurality of small suction cups (37) and the plurality of connecting tubes (36) correspond one to one; when in use, the plurality of small suction cups (37) can increase the adsorption area of ​​the express parcel, improve the adsorption force on the express parcel, reduce the express parcel falling due to shaking when the sorting robot moves the express parcel to the No. 2 trolley, reduce the damage of the express parcel, and improve the sorting efficiency;

[0183] The disc housing (22) is a hollow structure, and the disc housing (22) is designed to be non-saturated and filled with fluid, which can lower the center of gravity of the disc housing (22), improve the stability of the sorting robot, reduce the instability of the sorting robot or even the rollover caused by the uneven ground encountered by the sorting robot in the process of moving from one sorting port to another, and reduce the wear of the sorting robot;

[0184] The top and bottom surfaces of the drive motor placement shell (14) are respectively provided with one end of a rubber column, and the other ends of the rubber column are respectively provided with two inner side surfaces of the U-shaped connecting piece (15). There are a plurality of rubber columns, and the plurality of rubber columns are arranged equidistantly along the length direction of the drive motor placement shell (14). The rubber columns and the dampers (31) are designed to be arranged in a staggered manner. When the sorting robot encounters an uneven ground when traveling from one sorting port to another, the rubber columns and the dampers (31) can further absorb shock and vibration, thereby improving the shock absorption performance of the sorting robot and reducing the impact of external shock and vibration on the sorting robot. At the same time, the impact force can be buffered to prevent the U-shaped connecting piece (15) from shaking violently or deforming when impacted, thereby improving the stability of the U-shaped connecting piece (15);

[0185] The walking mechanism is also provided with a detection mechanism, the detection structure comprising a first camera (9), a fixed disk (10) and a support rod (11), the support rod (11) being placed on the top surface of the disk shell, the bottom surface of the fixed disk (10) being placed on the top surface of the support rod (11), and the first camera (9) being placed on the top surface of the fixed disk (10). When the sorting robot moves from one sorting port to another sorting port, the first camera (9) collects images in real time in front of the sorting robot's moving route, and sends the collected image data to the signal converter, which converts the image data into a signal. The electrical signal of the image data is converted into a digital signal and sent to a data processor. The data processor processes the digital signal of the image data collected by the first camera (9) and identifies whether there is an obstacle in the image data. When an obstacle exists, the controller adjusts the telescopic length of the two first telescopic rods (19) in real time according to the deviation amount, so that a length difference appears between the two first telescopic rods (19). The two first telescopic rods (19) drive the U-shaped connecting member (15) to turn, the U-shaped connecting member (15) drives the driving motor to turn, and the driving motor drives the tire (13) to turn, so that the sorting robot can avoid the obstacle in advance.

[0186] The side surface of the other end of the clamp (8) is equidistantly provided with a plurality of anti-slip grooves, which can increase the friction between the clamp (8) and the express package, reduce the sliding between the clamp (8) and the express package, and reduce the falling of the express package when the sorting robot moves the express package to the No. 1 trolley;

[0187] The rotating mechanism cooperates with the design of the clamping mechanism. The rotating mechanism can make the clamping mechanism close to the top of the express package to clamp the express package. At the same time, it can make the clamping mechanism reach the top of the corresponding trolley to put the express package into the corresponding trolley to realize the sorting of the express package.

[0188] The disc vehicle shell (22) and the drive motor cooperate with the first telescopic rod (19), so that the plurality of tires (13) can achieve straight-line travel and steering travel under the drive of the drive motor and the first telescopic rod (19), so that the sorting robot can reach another sorting port from one sorting port according to a preset travel route, and sort express parcels at a plurality of different sorting ports. The plurality of tires (13) can all be steered, and the deflection angle of the vehicle body and the travel direction is small when turning, so that the rotation and side slip of the sorting robot when turning can be reduced. The forward and reverse rotation of the drive motor can achieve a U-turn on the spot, thereby increasing the travel speed. The sorting robot is suitable for narrow roads and warehouses with limited space.

[0189] The traveling mechanism can be used to enable the sorting robot to move, improve shock absorption performance, and reduce requirements on the road surface. The rotating mechanism cooperates with the clamping mechanism to sort express parcels of different sizes to corresponding trolleys, thereby achieving the purpose of sorting express parcels.

[0190] It should be noted that, unless otherwise clearly specified and limited, the terms "placed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection method such as a folding connection, a rivet connection, a pin connection, a bonding connection and a welding connection, or a detachable connection method such as a threaded connection, a snap connection and a hinge connection, or an integral connection, or an electrical connection, or a direct connection, or an indirect connection through an intermediate medium, or the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0191] It should be further pointed out that, when describing the above specific embodiment, for the sake of simplicity and clarity, only the differences between the above specific embodiment and other embodiments are described, but those skilled in the art should know that the above specific embodiment itself is also an independent technical solution.

Claims

1. A dynamic adsorption fixture for a sorting robot, characterized by: The invention comprises a fourth connecting arm, a suction pump, a support shaft, a support plate, an auxiliary suction pipe, a main suction pipe, a main suction cup, an auxiliary suction cup, a clamp, a connecting block, a third telescopic rod and a fixed block. One end of the support shaft is vertically connected to the fourth connecting arm, and the other end of the support shaft is placed in the middle of the top surface of the support plate. The two fixed blocks are respectively placed on both sides of the top surface of the support plate, and one ends of the two clamps are respectively rotatably placed on the two side surfaces of the support plate. The connecting block is placed on the bending part of the clamp, one end of the third telescopic rod is rotatably placed on the side of the fixed block, and the other end of the third telescopic rod is rotatably placed on the connecting block. The suction pump is placed in the middle of the bottom surface of the support plate, one end of the main suction pipe is connected to the air outlet of the suction pump and is communicated with the air outlet of the suction pump, the other end of the main suction pipe is connected to the main suction cup and is communicated with the main The suction cup is connected, one end of the auxiliary air extraction pipe is connected to the side of the main air extraction pipe and is connected to the side of the main air extraction pipe, and the other end of the auxiliary air extraction pipe is connected to the auxiliary suction cup and is connected to the auxiliary suction cup. It should be noted that the dynamic adsorption fixture needs to be installed on the following sorting robot for use. The sorting robot includes a walking mechanism and a rotating mechanism. The walking mechanism consists of a disc car body, a first rotating shaft, a tire, a driving motor placement shell, a U-shaped connecting piece, a first hinge, a first telescopic rod, a second hinge, a connecting rod, a shock-absorbing gasket, a second telescopic rod, a spring, and a damper. A connecting groove is opened on the side of the disc car body, and the notch of the connecting groove is flush with the side of the disc car body. The disc car body is a hollow structure, and the disc car body is unsaturated and filled with fluid;There are multiple connecting grooves, and the multiple connecting grooves are equidistantly arranged along the circumferential direction of the side surface of the disc car body. One end of the connecting rod is placed in the middle of the groove bottom of the connecting groove, and the other end of the connecting rod is rotatably placed at one end of the U-shaped connecting member through a second hinge. First telescopic rods are correspondingly placed on both sides of the connecting rod, one end of the first telescopic rod is placed at the groove bottom of the connecting groove, and the other end of the first telescopic rod is rotatably placed on the side surface of one end of the U-shaped connecting member through a first hinge. A driving motor placement shell is placed between the two side surfaces of the U-shaped connecting member, one end of the driving motor placement shell is placed on the inner side surface of one end of the U-shaped connecting member, and the driving motor is placed in the driving motor placement shell. The motor is placed in the shell, and the top surface and the bottom surface of the drive motor placement shell are respectively corresponding to one end of a group of dampers, one end of the second telescopic rod is placed on the other end of the damper, and the other end of the second telescopic rod is respectively placed on the two inner side surfaces of the U-shaped connecting piece through a shock-absorbing gasket, and a spring sleeve is placed on the side of the second telescopic rod. There are multiple dampers in the same group, and the multiple dampers are equidistantly arranged along the length direction of the drive motor placement shell, and the top surface and the bottom surface of the drive motor placement shell are respectively corresponding to one end of a rubber column, and the other end of the rubber column is respectively placed on the two inner side surfaces of the U-shaped connecting piece, and there are multiple rubber columns, and the multiple rubber columns are arranged along the length direction of the drive motor placement shell. The drive motor placement shell is arranged equidistantly in the length direction, the rubber columns and the dampers are arranged in a staggered manner, one end of the first rotating shaft passes through the through hole opened at the other end of the drive motor placement shell and is connected to the motor shaft of the drive motor, a bearing is arranged between the first rotating shaft and the drive motor placement shell, and the other end of the first rotating shaft is connected to the wheel axle of the tire, and a detection mechanism is also provided on the walking mechanism, and the detection mechanism consists of a first camera, a fixed plate and a support rod, the support rod is placed on the top surface of the disc car shell, the bottom surface of the fixed plate is placed on the top surface of the support rod, the first camera is placed on the top surface of the fixed plate, and the rotating mechanism consists of a fixed bottom plate, a first connecting plate and a support rod. The invention relates to a connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a rotating motor placement shell. One end of the first connecting arm is rotatably connected to the top surface of the disc car shell through a fixed bottom plate, one end of the second connecting arm is rotatably connected to the other end of the first connecting arm, the other end of the second connecting arm is rotatably connected to one end of the third connecting arm, the other end of the third connecting arm is connected to one end of the fourth connecting arm, the height of one end of the second connecting arm is less than the height of the other end, the rotating motor placement shell is embedded in a through groove opened at the other end of the fourth connecting arm, the rotating motor is placed in the rotating motor placement shell, and the sorting robot is controlled to steer by a sorting robot steering system;The sorting robot steering system is composed of a speed sensor, a direction sensor, a central processor and a central controller. The speed sensor is connected to the central processor via a data line, the direction sensor is connected to the central processor via a data line, the central controller is connected to the two first telescopic rods via a data transmission line, and the central processor converts digital signals into electrical signals. When the sorting robot steering system is executed, the following steps are implemented: the speed sensor collects the speed of the sorting robot and transmits the real-time signal to the central processor. When the sorting robot turns, the direction sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, and adjusts the control of the two first telescopic rods in real time according to the deviation. The telescopic length of the two first telescopic rods causes a length difference between the two first telescopic rods, and the two first telescopic rods drive the U-shaped connecting piece to turn, the U-shaped connecting piece drives the driving motor to turn, and the driving motor drives the tire to turn, so as to achieve the purpose of steering the sorting robot. The sorting robot controls the rotation of the connecting arm through a sorting robot rotation system; the sorting robot rotation system is composed of a distance sensor, a central processing unit and a central controller, the distance sensor is connected to the central processing unit through a data line, the central processing unit is connected to the central controller through a data line, the servo motor is connected to the central controller through a data line, the servo motor is connected to the first connecting arm, the second connecting arm and the third connecting arm respectively through a gear transmission device, and the central processing unit converts digital signals into electrical signals. ; 2. A dynamic adsorption fixture for a sorting robot according to claim 1, characterized in that A rubber strip is disposed on the side of the clamp, the length of the rubber strip is equal to the width of the clamp, there are a plurality of rubber strips, and the plurality of rubber strips are arranged without spacing in the length direction of the clamp.

3. The dynamic adsorption fixture of a sorting robot according to claim 1, characterized in that The clamp is replaced by a wave-shaped clamp, and the wave-shaped clamp is a structure with multiple arc bends from one end to the other.

4. The dynamic adsorption fixture of a sorting robot according to claim 1, characterized in that A reinforcing rod is arranged between the side surface of the support shaft and the fourth connecting arm. The other end of the clamp first extends obliquely downward and then bends toward the center line of the support plate. The extension lines of the other ends of the two clamps coincide with the center line of the support plate.

5. The dynamic adsorption fixture of a sorting robot according to claim 4, characterized in that The bending portion of the clamp is an arc-shaped structure, which can make the bending portion and the express parcel fit more closely, increase the contact area between the clamp and the express parcel, increase friction, and reduce sliding between the clamp and the express parcel; and when the clamp clamps the express parcel, it can distribute stress more evenly, reduce stress concentration, and reduce the extrusion deformation of the bending portion of the clamp and the express parcel; the clamp is a hollow structure except for the bending portion, which can reduce the weight of the clamp, reduce the load-bearing capacity of the connecting plate, and improve the flexibility of opening and closing the clamp.

6. The dynamic adsorption fixture of a sorting robot according to claim 5, characterized in that The clamp is filled with a mixture of sponge and foam particles, which can effectively absorb and disperse the mutual squeezing force when the clamp clamps the express parcel, reduce the squeezing deformation of the clamp and the express parcel, and improve the supporting ability of the clamp for the express parcel; the thickness of the clamp gradually decreases from one end to the other end, and the thickness at one end is large, which can improve the connection stability between the clamp and the connecting plate, and reduce the loosening and falling off of the connection of the clamp in the process of clamping the express parcel, and the thickness at the other end is small, which can fit the edge or small part of the express parcel more closely, reduce the gap that may appear in the clamping process, improve the stability of clamping, and reduce the mutual squeezing force of the clamp on the express parcel, and reduce the squeezing deformation of the clamp and the express parcel.

7. The dynamic adsorption fixture of a sorting robot according to claim 1, characterized in that The outer diameter of the auxiliary suction cup is smaller than that of the main suction cup. The auxiliary air extraction pipe first extends obliquely from one end to a distance away from the main air extraction pipe, and then extends vertically downward to the other end. The vertical section of the auxiliary air extraction pipe is a flexible bellows, which can avoid the intersection of multiple pipelines and simplify the pipeline layout. The vertical section is a flexible bellows, which can be recovered when the suction cup moves downward to contact the package to reduce the impact stress. At the same time, when encountering an irregularly shaped package, the flexible bellows connected to the suction cup that first contacts the top surface of the package is recovered, so that other suction cups can contact and adsorb the package, thereby improving the adsorption force and adsorption area of ​​the package and preventing the package from falling off during movement.

8. The dynamic adsorption fixture of a sorting robot according to claim 7, characterized in that There are multiple auxiliary air extraction pipes, and the multiple auxiliary air extraction pipes are arranged equidistantly along the circumferential side of the main air extraction pipe. The multiple auxiliary suction cups have different heights. For express parcels with irregular shapes, auxiliary suction cups of different heights can adsorb express parcels at different heights. The adsorption force is stronger, which can reduce the slipping of express parcels during movement.

9. The dynamic adsorption fixture of a sorting robot according to claim 8, characterized in that The distances between the multiple auxiliary suction cups and the center line of the main suction cup are different, so that different positions of the express package can be adsorbed, and express packages of different sizes can be adsorbed more effectively. The adsorption force is stronger, which can reduce the slipping of the express package during movement.

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